Different issue from http://answers.ros.org/question/196189/frontier_exploration-with-turtlebot/
Using [a package I just made](https://github.com/130s/turtlebot_samples/tree/indigo), which launches Gazebo, gmapping, and nodes from `frontier_exploration` by the following command:
roslaunch turtlebot_samples exploration_all.launch
Turtlebot stands still while I believe I give a goal point successfully (BTW [I've added a step-by-step instruction for running a demo](http://wiki.ros.org/action/info/frontier_exploration?action=diff&rev2=43&rev1=41)).
[ INFO] [1465966486.877459779, 0.553000000]: Using plugin "static"
[ INFO] [1465966486.959412012, 0.627000000]: Requesting the map...
[ INFO] [1465966490.228531000, 3.765000000]: Laser is mounted upwards.
-maxUrange 6 -maxUrange 8 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
-srr 0.01 -srt 0.02 -str 0.01 -stt 0.02
-linearUpdate 0.5 -angularUpdate 0.436 -resampleThreshold 0.5
-xmin -1 -xmax 1 -ymin -1 -ymax 1 -delta 0.05 -particles 80
[ INFO] [1465966490.231561648, 3.767000000]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= -0.0869791 0.0474907 0.00146067
m_count 0
Registering First Scan
[ INFO] [1465966490.300927799, 3.834000000]: Resizing costmap to 288 X 480 at 0.050000 m/pix
[ INFO] [1465966490.399388756, 3.934000000]: Received a 288 X 480 map at 0.050000 m/pix
[ INFO] [1465966490.405104350, 3.940000000]: Using plugin "explore_boundary"
[ INFO] [1465966490.518579672, 4.043000000]: Using plugin "sensor"
[ INFO] [1465966490.523587916, 4.048000000]: Subscribed to Topics: laser
[ INFO] [1465966490.589479815, 4.110000000]: Using plugin "inflation"
[ WARN] [1465966511.346433533, 24.659000000]: Please select an initial point for exploration inside the polygon
[ INFO] [1465966514.076453670, 27.361000000]: Sending goal
I'm guessing something in my config for `frontier_exploration` maybe specific to Turtlebot, but not sure. I'm looking at [frontier_exploration/launch/global_map.launch](https://github.com/paulbovbel/frontier_exploration/blob/3988885f4e4db737f31a1ab12d0aff91f12c76d0/launch/global_map.launch) and [husky_navigation/launch/exploration.launch](https://github.com/husky/husky/blob/indigo-devel/husky_navigation/launch/exploration.launch) in particular.
Thanks.
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